# Dynamic World Generator Wizard (V2): From Wrold DEsign to Nav2 Map in One Step

**URL:** <https://discourse.openrobotics.org/t/dynamic-world-generator-wizard-v2-from-wrold-design-to-nav2-map-in-one-step/55353>\
**Category:** Projects\
**Tags:** ros2, gazebo, navigation, simulation, slam\
**Created:** [June 8, 2026, 12:06pm UTC](https://discourse.openrobotics.org/t/dynamic-world-generator-wizard-v2-from-wrold-design-to-nav2-map-in-one-step/55353 "2026-06-08T12:06:06Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![ali.pahlevani](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/ali.pahlevani/32/30216_2.png) [@ali.pahlevani](https://discourse.openrobotics.org/u/ali.pahlevani)\
**Post date:** [June 8, 2026, 12:06pm UTC](https://discourse.openrobotics.org/t/dynamic-world-generator-wizard-v2-from-wrold-design-to-nav2-map-in-one-step/55353/1 "2026-06-08T12:06:06Z")

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![dwg_v2_1](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/8/9/8973d7955709d9f1d250f514b8a771be667eee8b.gif)

If you’re building Gazebo worlds for SLAM, Nav2, or mobile robotics and you’re still manually creating your navigation map as a separate step → this tool was made for you.

A while back I shared **Dynamic World Generator Wizard (V1)** here — an open-source GUI tool for quickly spinning up dynamic Gazebo simulation environments with custom walls, static obstacles, and dynamic obstacles (linear, elliptical, polygon motions). The community response was great, and I’ve been heads-down building what I think is a meaningful upgrade ever since.

**🎉 V2 is now live.**

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**🧩 What is it?**

A GUI wizard that lets you design a complete Gazebo simulation world — walls, static obstacles, dynamic obstacles — and export a ROS 2-ready occupancy grid map (`.pgm` + `.yaml`) in one seamless workflow. No separate mapping step. No manual parameter guessing.

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**🆕 What’s new in V2:**

🟢 **Gazebo Ionic support** → now covers Ionic, Harmonic (recommended), and Fortress

🟢 **Map Generation** → the biggest addition. Renders all static geometry directly into a Nav2-ready occupancy grid with configurable resolution, origin, thresholds, and mode — live preview included. Previously, building a Gazebo world and producing its navigation map were two separate, manual steps. Now they’re one.

🟢 **Fully Responsive UI** → sidebar, cards, buttons, and labels all adapt as the window resizes

🟢 **Root Launcher** → run the app with `./dwg_wizard` from the repo root, no more `cd code/` every time

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**✨ Full feature set (V2):**

- Interactive wall design with undo/redo
- Static obstacles: boxes, cylinders, spheres
- Dynamic obstacles with linear, elliptical, and polygon motion paths
- Auto-generated motion scripts + launch files
- Live map preview with configurable Nav2 parameters

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⚙ **ROS 2 compatibility** → works out of the box:

- **Humble** (LTS)
- **Iron**
- **Jazzy** (LTS)
- **Kilted Kaiju**

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**🔗 GitHub Repo:** [GitHub - ali-pahlevani/Dynamic\_World\_Generator: A great dynamic world generator, where you can make your own dynamic world in Gazebo and Isaac Sim · GitHub](https://github.com/ali-pahlevani/Dynamic_World_Generator)

If it saves you iteration time, a ⭐ on the repo goes a long way. Feedback and PRs are very welcome.